The hydrofoil propulsion method, which takes marine turtle forelimb as representative, has the outstanding characteristics of high efficiency and low noisy so that the bionic research of turtle forelimb hydrofoil propulsion was conducted. Taking the ripe green-turtle as living prototype, the turtle hydrofoil propulsion motion principle was studied, and then the bionic hydrofoil propulsion sample was developed. According to the Newton’s second law of motion and Euler’s formula, the 6 DOF space motion expression of bionic sample was established. At last, the motion performance test experiment of bio-hydrofoil machine was carried out, and the experimental results not only provided a control element for the motion attitude control of the sample, but also validated the security and availability of the bionic system design, enriching the underwater flexible propulsion theories.